feat!: support generic inputs and outputs in controllers

[bpapaspyros]

Description

This PR adds support for generic outputs in controllers. Similarly to #145, we use compile-time data type inference to make sure that custom (ROS) types are 1) added to the output map generically, 2) are directly published when write_output is invoked.

• Support generic inputs and outputs for controllers #151

Review guidelines

Estimated Time of Review: 10 minutes

Checklist before merging:

• Confirm that the relevant changelog(s) are up-to-date in case of any user-facing changes

[bpapaspyros]

@domire8 just about to write the corresponding issue and update the descriptions, but this is my draft for the time being.

[domire8]

🚀